from launch import LaunchDescription
from launch_ros.actions import Node
from ament_index_python.packages import get_package_share_directory
import os

def generate_launch_description():
    config = os.path.join(
        get_package_share_directory('local_navigation'),
        'config',
        'local_navigator.params.yaml'
    )
    
    return LaunchDescription([
        Node(
            package='local_navigation',
            executable='local_navigator',
            name='local_navigator',
            parameters=[config],
            output='screen'
        )
    ])